Conditioned climbing fiber responses in cerebellar cortex and nuclei

Cerebellar interpositus nucleus exhibits time-dependent errors and predictive responses

Learning is a functional state of the brain that should be understood as a continuous process, rather than being restricted to the very moment of its acquisition, storage, or retrieval. The cerebellum operates by comparing predicted states with actual states, learning from errors, and updating its internal representation to minimize errors. In this regard, we studied cerebellar interpositus nucleus (IPn) functional capabilities by recording its unitary activity in behaving rabbits during an associative learning task: the classical conditioning of eyelid responses. We recorded IPn neurons in rabbits during classical eyeblink conditioning using a delay paradigm. We found that IPn neurons reduce error signals across conditioning sessions, simultaneously increasing and transmitting spikes before the onset of the unconditioned stimulus. Thus, IPn neurons generate predictions that optimize in time and shape the conditioned eyeblink response. Our results are consistent with the idea that the cerebellum works under Bayesian rules updating the weights using the previous history.

Electrophysiological activity from over the cerebellum and cerebrum during eye blink conditioning in human subjects

We report the results of an experiment in which electrophysiological activity was recorded from the human cerebellum and cerebrum in a sample of 14 healthy subjects before, during and after a classical eye blink conditioning procedure with an auditory tone as conditional stimulus and a maxillary nerve unconditional stimulus. The primary aim was to show changes in the cerebellum and cerebrum correlated with behavioral ocular responses. Electrodes recorded EMG and EOG at peri-ocular sites, EEG from over the frontal eye-fields and the electrocerebellogram (ECeG) from over the posterior fossa. Of the 14 subjects half strongly conditioned while the other half were resistant. We confirmed that conditionability was linked under our conditions to the personality dimension of extraversion-introversion. Inhibition of cerebellar activity was shown prior to the conditioned response, as predicted by Albus (1971). However, pausing in high frequency ECeG and the appearance of a contingent negative variation (CNV) in both central leads occurred in all subjects. These led us to conclude that while conditioned cerebellar pausing may be necessary, it is not sufficient alone to produce overt behavioral conditioning, implying the existence of another central mechanism. The outcomes of this experiment indicate the potential value of the noninvasive electrophysiology of the cerebellum.

A Critical Investigation of Cerebellar Associative Learning in Isolated Dystonia

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Conclusions

Reward signals in the cerebellum: origins, targets, and functional implications

The cerebellum has long been proposed to play a role in cognitive function, although this has remained controversial. This idea has received renewed support with the recent discovery that signals associated with reward can be observed in the cerebellar circuitry, particularly in goal-directed learning tasks involving an interplay between the cerebellar cortex, basal ganglia, and cerebral cortex. Remarkably, a wide range of reward contingencies-including reward expectation, delivery, size, and omission-can be encoded by specific circuit elements in a manner that reflects the microzonal organization of the cerebellar cortex. The facts that reward signals have been observed in both the mossy fiber and climbing fiber input pathways to the cerebellar cortex and that their convergence may trigger plasticity in Purkinje cells suggest that these interactions may be crucial for the role of the cerebellar cortex in learned behavior. These findings strengthen the emerging consensus that the cerebellum plays a pivotal role in shaping cognitive processing and suggest that the cerebellum may combine both supervised learning and reinforcement learning to optimize goal-directed action. We make specific predictions about how cerebellar circuits can work in concert with the basal ganglia to guide different stages of learning.

Brain-inspired classical conditioning model

Classical conditioning plays a critical role in the learning process of biological brains, and many computational models have been built to reproduce the related classical experiments. However, these models can reproduce and explain only a limited range of typical phenomena in classical conditioning. Based on existing biological findings concerning classical conditioning, we build a brain-inspired classical conditioning (BICC) model. Compared with other computational models, our BICC model can reproduce as many as 15 classical experiments, explaining a broader set of findings than other models have, and offers better computational explainability for both the experimental phenomena and the biological mechanisms of classical conditioning. Finally, we validate our theoretical model on a humanoid robot in three classical conditioning experiments (acquisition, extinction, and reacquisition) and a speed generalization experiment, and the results show that our model is computationally feasible as a foundation for brain-inspired robot classical conditioning.

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Classical conditioning (CC) is crucial in biological and embodied robot learning

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A spiking neural network incorporates existing biological findings of CC in one model

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BICC can explain a broader set of findings than other existing computational models

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BICC ensures a robot gets similar biological behavior and speed generalization capability

Purkinje Cell Activity Determines the Timing of Sensory-Evoked Motor Initiation

Cerebellar neurons can signal sensory and motor events, but their role in active sensorimotor processing remains unclear. We record and manipulate Purkinje cell activity during a task that requires mice to rapidly discriminate between multisensory and unisensory stimuli before motor initiation. Neuropixels recordings show that both sensory stimuli and motor initiation are represented by short-latency simple spikes. Optogenetic manipulation of short-latency simple spikes abolishes or delays motor initiation in a rate-dependent manner, indicating a role in motor initiation and its timing. Two-photon calcium imaging reveals task-related coherence of complex spikes organized into conserved alternating parasagittal stripes. The coherence of sensory-evoked complex spikes increases with learning and correlates with enhanced temporal precision of motor initiation. These results suggest that both simple spikes and complex spikes govern sensory-driven motor initiation: simple spikes modulate its latency, and complex spikes refine its temporal precision, providing specific cellular substrates for cerebellar sensorimotor control.

Bidirectional learning in upbound and downbound microzones of the cerebellum

Over the past several decades, theories about cerebellar learning have evolved. A relatively simple view that highlighted the contribution of one major form of heterosynaptic plasticity to cerebellar motor learning has given way to a plethora of perspectives that suggest that many different forms of synaptic and non-synaptic plasticity, acting at various sites, can control multiple types of learning behaviour. However, there still seem to be contradictions between the various hypotheses with regard to the mechanisms underlying cerebellar learning. The challenge is therefore to reconcile these different views and unite them into a single overall concept. Here I review our current understanding of the changes in the activity of cerebellar Purkinje cells in different 'microzones' during various forms of learning. I describe an emerging model that indicates that the activity of each microzone is bound to either increase or decrease during the initial stages of learning, depending on the directional and temporal demands of its downstream circuitry and the behaviour involved.

Prediction signals in the cerebellum: beyond supervised motor learning

While classical views of cerebellar learning have suggested that this structure predominantly operates according to an error-based supervised learning rule to refine movements, emerging evidence suggests that the cerebellum may also harness a wider range of learning rules to contribute to a variety of behaviors, including cognitive processes. Together, such evidence points to a broad role for cerebellar circuits in generating and testing predictions about movement, reward, and other non-motor operations. However, this expanded view of cerebellar processing also raises many new questions about how such apparent diversity of function arises from a structure with striking homogeneity. Hence, this review will highlight both current evidence for predictive cerebellar circuit function that extends beyond the classical view of error-driven supervised learning, as well as open questions that must be addressed to unify our understanding cerebellar circuit function.

SK2 channels in cerebellar Purkinje cells contribute to excitability modulation in motor-learning-specific memory traces

Neurons store information by changing synaptic input weights. In addition, they can adjust their membrane excitability to alter spike output. Here, we demonstrate a role of such "intrinsic plasticity" in behavioral learning in a mouse model that allows us to detect specific consequences of absent excitability modulation. Mice with a Purkinje-cell-specific knockout (KO) of the calcium-activated K+ channel SK2 (L7-SK2) show intact vestibulo-ocular reflex (VOR) gain adaptation but impaired eyeblink conditioning (EBC), which relies on the ability to establish associations between stimuli, with the eyelid closure itself depending on a transient suppression of spike firing. In these mice, the intrinsic plasticity of Purkinje cells is prevented without affecting long-term depression or potentiation at their parallel fiber (PF) input. In contrast to the typical spike pattern of EBC-supporting zebrin-negative Purkinje cells, L7-SK2 neurons show reduced background spiking but enhanced excitability. Thus, SK2 plasticity and excitability modulation are essential for specific forms of motor learning.

Delayed Complex Spike Response Evoked by Conditioned Stimulus Encodes Movement Onset Time and Is Determined by Intrinsic Inferior Olive Properties

Recent studies demonstrate that after classical conditioning the conditioned stimulus (CS) triggers a delayed complex spike. This new finding revolutionizes our view on the role of complex spike activity. The classical view of the complex spike as an error signal has been replaced by a signal that encodes for expectation, prediction and reward. In this brief perspective, we review some of these works, focusing on the characteristic delay of the response (~80 ms), its independence on the time interval between CS and the unconditioned stimulus (US) and its relationship to movement onset. In view of these points, we suggest that the generation of complex spike activity following learning, encodes for timing of movements onset. We then provide original data recorded from Purkinje and cerebellar nuclei neurons, demonstrating that delayed complex spike activity is an intrinsic property of the cerebellar circuit. We, therefore, suggest that learning of classical conditioning involves modulation of cerebellar circuitry where timing is provided by the inferior olive and the movement kinematic is delivered by the cerebellar nuclei projection neurons.

Complex spike clusters and false-positive rejection in a cerebellar supervised learning rule

KEY POINTS

Spike doublets comprise ∼10% of in vivo complex spike events under spontaneous conditions and ∼20% (up to 50%) under evoked conditions. Under near-physiological slice conditions, single complex spikes do not induce parallel fibre long-term depression. Doublet stimulation is required to induce long-term depression with an optimal parallel-fibre to first-complex-spike timing interval of 150 ms.

ABSTRACT

The classic example of biological supervised learning occurs at cerebellar parallel fibre (PF) to Purkinje cell synapses, comprising the most abundant synapse in the mammalian brain. Long-term depression (LTD) at these synapses is driven by climbing fibres (CFs), which fire continuously about once per second and therefore generate potential false-positive events. We show that pairs of complex spikes are required to induce LTD. In vivo, sensory stimuli evoked complex-spike doublets with intervals ≤150 ms in up to 50% of events. Using realistic [Ca2+ ]o and [Mg2+ ]o concentrations in slices, we determined that complex-spike doublets delivered 100-150 ms after PF stimulus onset were required to trigger PF-LTD, which is consistent with the requirements for eyeblink conditioning. Inter-complex spike intervals of 50-150 ms provided optimal decoding. This stimulus pattern prolonged evoked spine calcium signals and promoted CaMKII activation. Doublet activity may provide a means for CF instructive signals to stand out from background firing.

Neurons of the inferior olive respond to broad classes of sensory input while subject to homeostatic control

KEY POINTS

Purkinje cells in the cerebellum integrate input from sensory organs with that from premotor centres. Purkinje cells use a variety of sensory inputs relaying information from the environment to modify motor control. Here we investigated to what extent the climbing fibre inputs to Purkinje cells signal mono- or multi-sensory information, and to what extent this signalling is subject to recent history of activity. We show that individual climbing fibres convey multiple types of sensory information, together providing a rich mosaic projection pattern of sensory signals across the cerebellar cortex. Moreover, firing probability of climbing fibres following sensory stimulation depends strongly on the recent history of activity, showing a tendency to homeostatic dampening.

ABSTRACT

Cerebellar Purkinje cells integrate sensory information with motor efference copies to adapt movements to behavioural and environmental requirements. They produce complex spikes that are triggered by the activity of climbing fibres originating in neurons of the inferior olive. These complex spikes can shape the onset, amplitude and direction of movements and the adaptation of such movements to sensory feedback. Clusters of nearby inferior olive neurons project to parasagittally aligned stripes of Purkinje cells, referred to as 'microzones'. It is currently unclear to what extent individual Purkinje cells within a single microzone integrate climbing fibre inputs from multiple sources of different sensory origins, and to what extent sensory-evoked climbing fibre responses depend on the strength and recent history of activation. Here we imaged complex spike responses in cerebellar lobule crus 1 to various types of sensory stimulation in awake mice. We find that different sensory modalities and receptive fields have a mild, but consistent, tendency to converge on individual Purkinje cells, with climbing fibres showing some degree of input-specificity. Purkinje cells encoding the same stimulus show increased events with coherent complex spike firing and tend to lie close together. Moreover, whereas complex spike firing is only mildly affected by variations in stimulus strength, it depends strongly on the recent history of climbing fibre activity. Our data point towards a mechanism in the olivo-cerebellar system that regulates complex spike firing during mono- or multi-sensory stimulation around a relatively low set-point, highlighting an integrative coding scheme of complex spike firing under homeostatic control.

Variability and directionality of inferior olive neuron dendrites revealed by detailed 3D characterization of an extensive morphological library

The inferior olive (IO) is an evolutionarily conserved brain stem structure and its output activity plays a major role in the cerebellar computation necessary for controlling the temporal accuracy of motor behavior. The precise timing and synchronization of IO network activity has been attributed to the dendro-dendritic gap junctions mediating electrical coupling within the IO nucleus. Thus, the dendritic morphology and spatial arrangement of IO neurons governs how synchronized activity emerges in this nucleus. To date, IO neuron structural properties have been characterized in few studies and with small numbers of neurons; these investigations have described IO neurons as belonging to two morphologically distinct types, “curly” and “straight”. In this work we collect a large number of individual IO neuron morphologies visualized using different labeling techniques and present a thorough examination of their morphological properties and spatial arrangement within the olivary neuropil. Our results show that the extensive heterogeneity in IO neuron dendritic morphologies occupies a continuous range between the classically described “curly” and “straight” types, and that this continuum is well represented by a relatively simple measure of “straightness”. Furthermore, we find that IO neuron dendritic trees are often directionally oriented. Combined with an examination of cell body density distributions and dendritic orientation of adjacent IO neurons, our results suggest that the IO network may be organized into groups of densely coupled neurons interspersed with areas of weaker coupling.